Control for aerial torpedoes



4,. 1953 R. H. HILL ETAL 2,647,707

CONTROL FOR AERIAL TORPEDOES Filed Oct. 9, 1942 8 Sheets-Sheet 1 INVENTORS E0554? MAL 0 0 JAVMES M GUYTON HTTORNE Y5 4, 1953 R. H. HILL ET'AL 2,647,707

CONTROL FOR AERIAL TORPEDOES Filed 001;. 9, 1942 8 Sheets-Sheet 2 INVENTORS Power/t 1/144 ,swo Jomss Gum/v ATTORNEYS Aug. 4, 1953 CONTROL FOR AERIAL TORPEDOES Filed Oct. 9, 1942 8 Sheets$heet 5 INVENTORS Foal-W7 6011 0/90 Jwes ll Gun-a ATTORNEYS R. H. HILL ET AL 2,647,707

4, 1953 R. H. HILL Er AL 2,647,707

CONTROL FOR AERIAL TORPEDOES Filed Oct. 9, 1942 8 Sheets-Sheet 4 vslvrons ROBEP7' Mu. a/va JAMEa M 60 V70 flTTOR YEYS.

CONTROL FOR AERIAL TORPEDOES Filed Oct. 9, 1942 TO quench/T i 846 9 84-3 sea 44 i 8 Sheets-Sheet 5 //Y VENTORS 8 Sheets-Sheet 6 R. H. HILL EF AL CONTROL FOR AERIAL TORPEDOES TO RUBBER 301 Aug. 4, I953 Fired Oct. 9, 1942 lg- 1953 R. H. HILL ETAL 2,647,707

CONTROL FOR AERIAL TORPEDOES Filed 001;. 9, 1942 8 Sheets-Sheet 7 THEIR 4 7- TOR/YE vs I MICA SHIELD 4, 1953 R. H. HILL HAL 2,647,707

CONTROL FOR AERIAL TORPEDOES Filed Oct. 9, 1942 8 Sheets-Sheet 8 INVEHTORS Passer ///1.1. mm Janzs A. GUYTQN' 739871? I? 7' TOR/V576 Patented Aug. 4, 195 3 UNITED S'E'A'iifi PA? E Robert H. Hill, Anderson, Kokomo, Ind., assignors poration, Detroit, Mich,

ware

and James H. Guyton,

to General Motors Cora corporation of Dela- Application October 9, 1942, Serial N 0. 461,370

12 Claims.

This invention relates to control mechanism for a torpedo and particularly an aerial torpedo adapted to be released or launched from an airplane or airship during flight.

It is among the objects of the present invention to provide a torpedo with control mechanism capable of maintaining it in a substantially direct path toward a source of light in the direction of which the torpedo was launched.

This is accomplished by providing the torpedo with stabilizing means in the form of oppositely disposed wings having adjustable ailerons and steering means comprising fins each having a movable end portion forming an elevator or a rudder. Mechanisms for operatin said ailerons and elevators and rudders in either direction are provided. The control mechanism also comprises optical apparatus including photoelectric cells adapted, in response to being afiected by the light emanating from the target toward which the torpedo has been launched, to produce energy for actuating the mechanisms which operate the steering means to hold the torpedo on its proper course toward the target.

A further object of the present invention is to provide a control mechanism for a standard torpedo, so constructed and arranged that the entire mechanism may be attached to the torpedo quickly and with a minimum requirement of a labor.

Further objects and advantages of the present invention will be apparent from the following description, reference being had to the accompanying drawings wherein a preferred embodiment of the invention is clearly shown.

In the drawings:

Fig. 1 is a plan view in outline, of a torpedo equipped with the present invention.

Fig. 2 is a side view in outline of the torpedo shown in Fig. 1.

Fig. 3 is a side view, partly in section, showing the assembly of the optical device of the control mechanism.

Fig. 4 is a front view of the device shown in Fig. 3.

Fig. 5 is a fragmentary sectional view taken along the line 5-5 of Fig. 3.

Fig. 6 is a side view, partly in section, of the compass device of the control mechanism.

Fig. 7 is a plan view taken along the line 1-'| of Fig. 6.

Fig. 8 is a fragmentary, detail view of the photoelectric cell provided on the compass bowl. Fig. 9 is a plan view of the walking beam electric relay device of the control mechanism.

Fig. 10 is a side view of the in Fig. 9.

Fig. 11 is an edge view of the relay.

Fig. 12 is a fragmentary, detail sectional view taken along the line |2-I2 ofFig. 13.

Fig. 13 is a fragmentary, sectional view of the pivoted member of the relay and is taken along the line l3 l3 of Fig. 12.

Fig. 14. is a plan View, with parts in section, illustrating the stabilizer operating apparatus of the control mechanism.

Fig. 15 is a side view of the apparatus shown in Fig. 14.

Fig. 16 is a detail view of the limit switch in the stabilizer operating mechanism of Figs. 14 and 15.

Fig. 17 is a plan view of the operating apparatus for the steering mechanism of the device.

Fig. 18 is a side view of the apparatus shown in Fig. 17.

Figs. 19 and 20 are associate diagrammatic views, split by the common dividing line 2ll20 illustrating all of the elements of the control mechanism and their electrical circuits and connections.

Fig. 21 is a diagrammatic View illustrating one of the multiplier phototubes used in the present invention.

Fig. 22 is a schematic showing of the circuits of all heating elements of the various tubes.

A torpedo equipped with the present invention is particularly adapted for nocturnal use. It is launched from a flying airplane or airship being directed at a target from which light is emanating or which has previously been illuminated by any suitable means such as the placing of a flare on or near the target or igniting it by an incendiary bomb. At the time of launching, switches are automatically actuated to connect the source of electric power, a storage battery in the present instance, with the various elements of the control mechanism whereby the torpedo is properly guided and stabilized in its flight. The optical portion of the mechanism in the form of photoelectric cells, commonly known as electric eyes is directed at the source of light on or near the target which light when striking said electric eyes will cause them to be excited and become efiective under certain circumstances to set the steering mechanism into operation for maintaining the flight of the torpedo directly toward the source of light at which the electric eyes are directed. Any swerving of the torpedo out of this direct path toward the light will cause one of said electric eyes to become effective and set the relay device shown.

present invention provides the, means for steering and stabilizing the torpedo after it is launched. The torpedo itself is designatedby thenumeral 2 5 while the control mechanism as a whole is referred to by the numeral 26.

The control mechanism 26 comprises a casing 21 which is of streamlined construction and is attachable to the torpedo in any suitable manner as for instance by means of bands 28. The front end of the casing 21 is blunt and open to receive the optical. portion of the control mechanism. The rear end of the casing is pointed or streamlined and has a group of oppositely disposed fins 29A, 29B, 29C and 20D secured to the casing 21 so as to be at.90 one to another.

Elevators 30A and 303,, and rudders 30C and 30]) are provided, each aligning with a respective fin,.all of these steering elements being pivotally carried by the casing so as. to be movable into and out ofalignment. in either direction with its respective fin. These fins and their respectively aligned steering elements form the steering means for the torpedo during its flight.

Th stabilizing means comprises two diametrically oppositev wings, 3| and 32 secured to the casing 21. The wings are provided, respectively, with pivoted. ailerons 33 and 34 adapted to be moved relatively to their respective wings for preserving. lateral balance and limiting rotation of the torpedo in onedirection or the other during its flight.

The elements 30 A-B -C andD of, the steering means are actuated by the servo-mechanism referred to asa whole by the numeral 10, Fig. 2, and shown in detail in Figs. 17 and 18. This servo-mechanism operates solely under the con.- trol of the optical portion 40 of the device, which is carried in the open, front endof the casing 21. This optical portion 40 is detailedly illustrated in the Figs. .4 and 5.

The ailerons 33 and: 34 are actuated, by. the servo-mechanism 80 which, is. detailedly illustrated by Figs..14, and. 16. This mechanism 80 is solely. under the control. of a compassv 50 detailedly illustratedby. Figs. 6, '7 and 8.-

The source of. electric power which actuates the entire mechanism is astorage battery 60 carried in the casing 21 as shown in Fig. 2-. Adjacent the battery there is provided a container 6| housing suitable terminals to which the two battery wires 62 and 63 lead and from which emanate other wires leading to the trip switch 64, the filament switch 65, the compass 50, the steering servo-mechanism 10, the stabilizer servo-mechanism 80 and. the optical portion 40 of the control mechanism. This container BI also houses certain electrical devices such as power tubes, resistance units, relays, transform ers and condensers, the function of which will be described later.

The optical member As. shown in Fig. 2, the optical. member 40 of the control mechanism is mounted in and is so constructed as to fill the open front end of the casing 21. It comprises a rectangularly shaped housing 40l (see Figs. 3 and 4) to one end of which is attached a conduit 402. The other end of housing 40! is closed by a plate 403, which is an extension of the mounting bracket 404; by means of which the optical member is secured in position within the casing 21. Each one of the four sides of the housing 40l has an opening 405 through which extends a photo-electric tube carfied by a plate 401. This plate is secured to the housing, 401 by two screws 408 which pass through arcuate slots 409 out in the wall of housing 401' so as tobe concentric with the opening 405 therein andthreadedly engage the plate 401. This permits rotative adjustment of the tube carrying plate 401 within a certain range.

Each one of the four photo-electric tubes 93lA, 93lB, 931C and 03ID is provided with a protective shield 410 having a removable cap 41 l. Each shield 410 is cylindrical in shape and; has a side opening M2 the center of which aligns with the light shield through which the incident light enters the tube to impinge upon the first cathode surface. The outer surface of the shield about the side opening 412: is of spherical shape as shown at H3. This provides a swivel mount for the similarly shaped flanged end 414 of. the cup member M5 which carries the hood M6 in which a lens 4|! is secured. This lens is coaxial with the opening 4l2 of the tube hood 4l0. Thus the four lens-carrying hoods 4H5 may be adjusted on their respective swivel mounts H3; For purposes of description. the four lenses 411 of the respective four photo-electric tubes 93IA, 93KB, SSEC and 93|D will be referred tov hereinafter as AHA, 4MB, TC and 411D as marked in Fig. 4. c

Any suitable type, of: photoelectric cell or tube, designated by the numeral 93l1 may be. used. In the present instance multiplier phototubes known on the openmarket as RCA-931, 9-stage electrically focused type are used. This is a high-vacuum phototube in which the photocurrent produced at a light-sensitive cathode is multiplied many times by secondary emission occurring at successive dynodes within the tube. It is cae pabl'e of multiplying feeble currents produced by weak illumination as much as 2,000,000 times. The resultant output curre'ntis a linear function of the exciting illumination under normal operating conditions; Since secondary emissiohsoccur almost instantaneously, frequency response of this particular. phototube isflat up to frequencies at which transit time becomes a-limitingfactor. Referring to Fig. 21, which shows a schematic arrangement of one of the multiplier photo-electric tubes, the cipher 0, indicates the photocathode, the numeral l0 indicates theanode, and the numerals l to fi'the dynodes. This type of tube utilizes thev phenomenon of. secondary emission to amplify signals composed-of electron streams.v Inthemultiplier phototube, represented in Fig. 21, the electrons emitted; from the-illuminated photocathode are directed by the fixed electrostatic fields along curved paths to the first dynode (secondary emitter). The electrons impinging on the dynode surface produce many other electrons, the number depending on the energy of the impinging electrons. These secondary electrons are then directed-tea second dynode and knock out'more new electrons. This multiplying process is repeated in each successive stage,,with an ever.increasingstreamof-elec .in bearing standards !25 and 726. a Worm 127 attached thereto between the two trons, until those emitting from the last dynode (dynode No. 9) are collected by the anode and constitute the current utilized in the control of the operating circuits of the driving means of the mechanism which'operates the steering apparatus. A plurality of terminals 4; extend from each tube and are connected to the proper electrical devices through wires leading from the conduit 482 in the form of a cable 67 to the box or power pack and amplifier unit 61 The optical member just described controls the operation of the steering mechanism of the torpedo. This steering mechanism, as has been previously said, comprises four fins 29A, 29B, 28C and 29D each secured to the casing 21 in any suitable manner and at right angles thereto, each two alternate fins being diametrically opposite. In alignment with the fins are steering elements 38A, 36B, 38C and 38D respectively, each element being rotatably supported upon the casing 2'! so that each element may be moved out of planar alignment with its respective fin in either direction.

Steering mechanism The servo-mechanism T0 for moving the steer ing elements under the effect and control of the optical member 48 is illustrated in the Figs. 17 and 18. This mechanism is housed in a box "m0 secured within the casing 21 near its tail end. Two shafts ml and E82 arranged at right angles relatively to each other extend centrally through said box 788, the shaft 18! being above the shaft 182 as shown in Fig. 17, each end of a shaft extending outside the confines of box 180 and being connected operatively with an element in any suitable manner so as to be capable of shifting said element,

Shaft I0! is supported by bearing standards I83 and 184 and shaft 702 by bearing standard 785 and 186. An electric motor 201 is secured in the box 180, the shaft of the armature I88 thereof aligning with but lying a a plane above the axis of shaft 102. The shaft of armature 788 of the motor has a pinion 189 pinned thereto, this pinion operatively engaging gear H8. This gear is pinned to counter shaft HI supported by bearing standards 7 l2 and H3 and at its end opposite the gear H8 has a pinion H4 secured thereto. Pinion H 4 operatively engages a gear 7l5 pinned to shaft H8 rotatably supported by bearing standards 1!! and H8. At the end of shaft H6, extending outside bearing standard Ill, there is secured a bevel pinion H9 meshing with a similar bevel pinion 128. At the end of shaft H6 extending outside the bearing standard H8 there is secured a bevel gear 12! which is in constant mesh with two bevel pinions I22 and 723 rotatably supported upon a shaft 124 journalled Shaft 124 has bevel gears 722 and 723, said worm operatively engaging a worm gear 728 (shown in dotted line in Fig. 18) which is attached to shaft 102. Thus the worm 721, acting through the worm gear 728,

drives shaft 182. The pinions 122 and 123 are rotatably mounted upon a non-magnetizable shaft 724 and can drive it only through a clutch mechanism which, in the present invention, is magnetically operated. The clutch mechanism through which pinion 222 is adapted to rotate shaft 724 in one direction is designated by the numeral 138, While the numeral 73! indicates a similar mechanism through which pinion .723 rotates shaft 724 in the opposite direction.

In the present invention six similar clutches 138,13L'a88 and m of Fig. 17, and 840 and 850 of" Fig 14 are utilized to connect a driving element with an element to be driven at the proper time and direction, therefore for the sake of brevity, only one will now be described in detail, reference being had to Fig. 14 in which one clutch 840, of the stabilizing mechanism, however, is shown in section. 7

In Fig. 14, the two driving bevel pinions 822 and 823 (similar to 122 and 123) are carried on shaft 824 so as to be rotatable relatively thereto. Shaft 824 is of non-magnetic material. Pinions 822 and 823 mesh with bevel gear 82l which is pinned to shaft 882, thus one pinion 822 is normally driven in one direction on shaft 824 and the other pinion 823 in the opposite direction. Between the pinions 822 and 823 a worm 82'! (similar to 727) is pinned to shaft 824. A spacing collar 828 is pinned to shaft 824 between the worm 82'! and pinion 822 to keep pinion 822 in mesh with gear 82!. A magnetic disc 835 which rotates in one direction when the motor 88! is rotating is supported by shaft 824, but is not normally drivingly connected therewith.

Surrounding the shaft 824 there is a driving joint which connects pinion 822 with disc 835 while permitting the latter to move along the shaft 824. This joint comprises a sleeve 831a attached to pinion 822 and having notches which receive lugs integral with disc 835. This construction is shown best with respect to the corre-- sponding parts associated with clutch 858. There, the pinion 823 has a part 831 having notches which receive lugs 838 integral with a disc 839 which corresponds to disc 835 of clutch 848.

The magnetic clutch 840 has a housing comprising an extending hub portion 84!, swivelly secured in the bearing standard 342 and supporting shaft 824 and also a shell portion 843. In this shell portion 843 there is secured the electromagnet windings 844 provided with insulating discs at each end surface. A friction, thrust collar 845 is pinned to shaft 824 between the housing of clutch 848 and the shiftable magnetic disc 835. A ball bearing 848 is interposed between the housing of clutch 848 and the collar 845; Normally there is no frictional contact between the collar 845 and the magnetic disc 835. Energization of the magnet windings 844 will set upmagnetic flux in the circuit comprising housing 843 of clutch 848, collar 845 and disc 835, all of which are made of magnetic material so that the disc 835, constantly driven in one direction due to the sliding mechanical connection with the pinion 822, will be brought into frictional engagement with the collar 845 resulting in a rotation of said collar with said disc. The collar 845 being pinned to shaft 824 will thus rotate this shaft in the direction of the rotation of pinion 822., At least one of the bearing races of balls 846 must be square in cross section to prevent freezing of the balls due to magnetism. The ball race construction shown in Fig. 14 provides for by-passing the magnetic flux around the balls.

7 Likewise, if the electromagnet windings of clutch 850 be energized, then the magnetic disc 839 would be attracted and moved to connect the shaft 824 with the pinion 823, which, rotating to pinion 822, would thus cause a reverse rotation of shaft 824. 824 and the worm .821, pinned thereto, always rotate together; and, consequently as the worm is rotated in onedirection or the other, the worm The shaft g'ear'BE-I with" which itmeshes- Will also be driven in either'direction.

From the foregoing description of the construction and operation of magnetic clutches 8M! and 850' ofthe present invention it may clearly be seen that if the clutch 130- (Fig. 17) is energized; its disc 139a will become effective operati'vely to connect pinion 1-22 to shaft 124 causing said-shaft to be rotated in the direction of said pinion. However, if the clutch l3l is energized, then-the disc 131a becomes effective to connect the shaft 124' with the pinion 123, which, rotating constantly in a direction opposite to the rotation of pinion 122, will rotatethe shaft 124 in said opposite direction. As the shaft rotates so also rotates the worm l2! pinned thereto and consequently reversed rotation of the worm will result in a reversed rotation of the shaft 102 upon which is secured the worm gear 128 (Fig. 18).

These two electro-magnetic clutches 130* and HI come under the direct control of the two photoelectric tubes 93 EA and 93 IB. As these two tubes are variably affected by the light of the traget towardwhich the torpedo is directed, they in turn will control or effect the energization or d'eenergization of the two electromagnet clutches.

The mechanism including electromagnetic clutches 130' and 13f is provided to operate the elevators-30A and 30B of the torpedo under the control of tubes 931A and B of the optical apparatus 40. The ends of shaft Hi2 are operatively connected to elevators 30A and 3613 respectively so that rotation of shaft M2 in one direction by the energization of one of theelectromagnetic clutches E30- and 13! will move said elevators 30A and 303 out of alignment with their respective fins 29A and 2913 in one direction. On the other hand, if the shaft I02 is rotated in the opposite direction due to the energization of the other of said electromagnetic clutches l30--l3l, then the elevators 30A and 30B will be rotated out of alignment with their respective finsin the opposite direction. This action of the elevators 30A and 303 will cause the torpedo to swerveup or down as regards Fig. 2 under the control of the photo-electric tubes 931A and 931B of the optical apparatus. This movement of the elevators in either direction must be held within a predetermined range and therefore a limiting device in the form of a switch is provided.

The switch for limiting the action of either of the magnetic'clutches 130 or 131 is operated by the shaft H32 which, as'has been said, actuates elevators 39A and 30B. The switch is shown in-elevation in the Fig. 17; however,.for purposes of detailed description reference also will be made to the Fig. 16 which is a front View of one of these switches of which there are three used in the present invention. The switch actuating shaft 860 of Fig. 16 corresponds to the switch actuating shaft H12 of Fig. 1'7. To the shaft :860 is attached the non-conducting actuator cam 861 A supporting plate 882, secured to 'the'bear- .ing standard B63which cooperates with a similar bearing standard 864 to support shaft 860, has two upturnedears 865 and 866. Ear8'6'5 insulatingly carries a substantially rigid plate-8 69mm- .vided with. contact 870 and a fleXible-bladc-BM provided with a contact 8'68, said contactsnor mally; engaging. Blade 861 has an angular end which-is engaged by. the. actuator cam at a cer tain-v point in its clockwise movement as regards Fig. 16 for opening. said'contacts; On car 866, opposite ear 865, there is insulatingly secured a rigid plateBM- having a contact. ...8l.3-- and a.

8 flexible blade 81-1- having a' contact 8T2. Blade 81 *Ihas an angular end engageab by the actuatorcam 8'61 to separate-contacts 8'12 and 813- at a certain pointin the counterclockwise rotation ofsaidcam- 8 61.

When actuator cam 8'6l' is in its normal position itdoes not engage eitherflexible blade 8ST 01*81'1, thus'contacts 868-8T0 and 8l2-8'T3* are in engagement respectively. However, as the shaft 860 is rotated in one direction (as for in stance clockwise as regards Fig. 16) it Will, at a predetermined point in this directional rotation, engage the angular end of blade'861, flex and move it so as to disengage its contact 8'68 from the contact 810, thus breaking a circuit for purposes to be described. Reverse rotation (counter clockwise) of the cam 86l causes eventual separation of contacts 812-813 to break another circuit. This is diagrammatically shown in Fig. 2D.

The mounting plate of the switch mechanism actuated by shaft 102 for controlling clutches I30 and l3| is designated by the numeral The flexible blade on one side of the actuator cam 14 l, is indicated by the numeral 142 and the flexible blade'on the other side-of the said cam by the numeral 143. Blade 142 has a contact 744 (see Fig; 20) which normally engages the contact T45 carried by the rigid'plate 146. Blade (43 has a contact Ml normally engaging contact MS-on plate I49. Rotation of shaft 10-2 clockwise in Fig. 20 is limitedby the separation of contacts l4'i l -i8 by cam 74!; and'in the counterclockwise direction by the separation of contacts l44l45-by-cam Ml.

Referring again to Figs. 1'7 and 18, shaft 101 has its ends respectively connected to rudders 3&6 and 30D so as to be adaptedto'move' them out of alignment with their respective fins 29C and 2333. This shaft (BI has a worm gear (Fig. 18) attached thereto, said gear meshing with a worm 156, pinned to the clutchshaft' I51 whichis journalledin bearing standards 158 and 159 (Fig. 17). Twoelectromagnetic clutches 160 and lfil, provided with magnetic armature discs USDA and TEIA respectively, are associated with shaft 751' in the same manner as clutch armature discs 835and839" are associated with'shaft 8.24. A bevel pinion l62is rotatablysupportedon shaft 151 and-is operatively connected with disc 'iflA by coupling 788. A similar pinion 164' on shaft 151' is operatively connected with disc 161a through coupling 165. Both pinions 762' and'164 mesh Withand are driven by a bevel gear 166 pinned'to shaft TE? which is journalled'in bearing standards 158" and 169'. The end of shaft 1 61', opposite the bevel gear lfifi has abevel pinion .120 pinnedthereto which meshes with pinion H9 secured to shaft "HE which, as has been previously described, is driven by the electric motor 1101 throughthe train of gears :99, H0, H4, and

Like shaft 102', shaft Hll operates acontrol switch mechanism for clutches T59 and IN. This mechanism isidentical with the mechanism shown in.Fig-. '16. Theactuator caml'm is attached to and'rotatedby shaft "Hi l. The flexible contact blades TH and 'H'Zare'adaptcd to be en'- gaged and moved'by this actuator cam 11!]. By referring to:th'e diagram (Fig. 20) blade TH has a'contact'lfl cooperating with a contact 114 on rigid-plate. 115. Likewise flexible blade 112 has a contact 116 cooperating with contact 111 on plate 718'. When energization of the electromagnetic; clutchiifiil has caused pinion 162 to'be connected with gagement with contact 111 the clutch 16I inactive and s 10I in the opposite directio stood that as shaft 10I thu rection or the other, the connected to the ends of s out of alignment with th and 29D in one direction Reference to the Fig. El will show that the two sets of contacts of each limit switch mechanism of the steering apparatus viz., 141148 and 144145 of one mechanism and 113-114 and 116-111 of another, are normally engaging and thus making circuit connections for the respec tive circuits of these clutches however, these circuits are normally held open by the contacts of a walking beam relay detailedly illustrated by the Figs. 9 to 13 inclusive.

The relay comprises a rectangularly shaped base I each side of said base having an integral portion thereof bent at right angles thereto to form two pairs of oppositely disposed, upstanding arms. The two arms at the narrower ends of the base are designated by the numerals ml and I02. The arms on the longer sides of the base are numbered I03 and I04. Each arm IOI and 902 has two angular brackets insulatingly attached thereto. The brackets of arm I0! are marked I and I00; and those of arm I02 are marked I06 and IE0. Bracket I05 adjustably carries a contact screw but indicated I01 and the bracket I 06 carries a contact screw I08.

The upstanding arms I03 and I04 of the relay base I00 support the walking beam armature assembly I I5 which is rotatively supported and thus adapted to be actuated by energization of either of the two relay coils I I0 and I I 1 attached to the and thereby render top rotation of shaft 11. It will be unders is rotated in one dirudders 30C and 30D, haft '5? will be moved eir respective fins 29C or the other.

5 provide a contr I03 and I00 by said pins movement of the hub I2 posite sides of the hub slots I24 and I25 which magnetizable armature lie under flexible non which prevent axial 2. On diametrically op- I22 are cut longitudinal respectively receive rigid, plates I21 and I 3| which -magnetizable plates I and I30. Each of the plates I and 530 is bifurcated to provide two forks. One fork of plate I26 engages a stop screw III on bracket I09 and the other fork of plate I26 ca adapted to engage the stationary contact I01 on bracket I05. One fork of plate I engages a stop screw M2 on bracket H0 and the other fork carries a contact 432 adapted to engage contact I03 on bracket I06. Both plates I26 and I21 are anchored in the slot I24 of the hub I22; and both plates I 3! and I30 are anchored in the slot I25 of hub I22. By the engagement of the flexible plates 420 and H30 with the adjustable stop screws III and I I2, the armature II 5 is held in such position that the pairs of contacts are normally separated. Energization of relay winding II 6 attracts and moves the armature counterclockwise (Fig. 10) to bring contact I20 into engagement with contact I01 while energization of relay winding II1 moves the armature clockwise to cause engagement of contact I32 with contact I08. Only one pair of contacts can be engaged at a time.

In the diagrammatic view Fig. 20, the relay just described is shown controlling the windings of clutches 130 and 13I. A similar relay shown diagrammatic immediately below this relay controls the clutches 160 and 1M. For purposes of description of said circuit diagram to be described in detail later in this specification, the two relay windings of the second relay are designated by the numerals I and MI and the armature by numeral I42. Contacts I43 and I44 on the armature cooperate with stationary contacts I 45 and I06 respectively.

The field of vision of the four, lensed, photoelectric tubes 03IA, 338B, 93IC and 93ID is of such a scope as to hold the flight of the torpedo, as it digresses from its direct path toward the target, to a minimum. These tubes operate to 01 according to the following rries a contact I28 tabulation base I00. Arm I03 carries a fulcrum screw pin IIS having a shank portion threaded in said arm so as to render the pin H8 adjustable relatively thereto. The pin H8 is turned so as to cause its inner conical end to engage the similarly shaped end of the central bore in a spool I22. Further turning of pin IIB causes arm I03 to back away from the spool to provide a suitable air gap in the magnetic circuit which includes the spool I22 and the arm I03. A lock nut II3 keeps the pin II8 in proper location. A similar screw pin I20 is threadedly supported by arm I04 and is locked in adjusted position by the nut I2I. The spool shaped armature-hub I22, bored out at each end to receive the oppositely disposed and axially aligned fulcrum screw pins H8 and I20, is thus pivotal y supported between the two arms For instance, if the direct path toward th rection, tube 93IA w light range and tub torpedo digresses from its e target in an upwardly diill be moved out of eiTective e 93IB will be brought into a position where more intensive light rays from the target will strike it, causing its excitation and a resultant operation of the elevators 30A and 30B downwardly so that the tail of the torpedo is raised and the nose lowered. This will cause the torpedo to veer from its digressing, upward path, downwardly toward its direct course. This veering of the torpedo downwardly continues until tube 93IB is moved out of efiective range of target light and rendered inactive and the tube 93I is moved into efi'ective range so that the more intensive rays of target light strike it and render it active. Now the circuit and electrical devices associated with tube 93IA will become eifective to shift the elevators upwardly, thereby lowering the tail and raising the nose of the torpedo, so that the torpedo having passed beneath the direct path 'of travel toward the target due to the elevators having been shifted downwardly by tube 93iB, will now veer upwardly toward its direct'path of travel. The shifting of the 'path of torpedo travel by operation of the elevators 36A and 38B is so limited :by the control mechanism that 'at no time does the torpedo move a substantial distance upwardly or downwardly out of 'its direct pathsof travel toward'the target, for as soon as one :tube 193IA or 93 IB is rendered ineffective, the companion tube is rendered eifective :and takes control "to .again return the torpedoito sits direct path toward the target. The same is 'true'regardingthe control of the rudders 36C and 38D by the tubes 93l'C and 931'!) for effecting return of 'the torpedo to its direct path toward the target after having 'digressed to the :right or left from said path.

If for any reason, the torpedo swerves out of its direct path toward the target in the other direction, that is, either right or left of the longitudinal axis (Fig. 1'ofthe-drawings), then rudders 38C and 36D come into .play to return the torpedo to its true course. These two rudders 30C and 30D come under 'direct control of the photo-electric tubes 83K] and EltID. As "long as the torpedo remains on its'true course, as viewed in Fig. 1,'tubes 931C andQEH'D remain in what might be termed balanced excitation. However, as the torpedo swerves from this course '(right or'left 'as viewed in Fig. l) the excitation of 'one or the other of said tubes will increase and thus this tube becomes predominant and the circuit of the'other'tube to-be weakened and thereby causes -movemerit 30D out of alignment with their respective fins 28'C' and 2'9D to correct this deviation in the flight of torpedo in eitherdirection.

The photocells are so sighted 'that there is purposely a blind spot'or dead area located between the areas covered by the cells. This 'arrangement provides for an interval between the release of predominating control by one cellrand the taking over of the control by the other cell of the same pair. Therefore, when the nose of the torpedo starts veering from its .course toward the target and a certain-cell of a ,pairof cells should take control, its field of influence will notbe infringed upon by the other cell of the same pair. As will be described later with reference to 'Figs. '19 :and 2.0, the slight predominance of thelcircuit of one photo-cell causes a degeneration .and weakening of the effect of the circuit of the other photo-cell of the same pair. "Therefore-when one cell-of a pair becomes s'lightly predominate, the stronger cell takes 'over control and the weaker cell releases control. 'Since there may be a veering from'course up or down concurrently with a veering from course left or right, a tube of one pair (93lA--93IB) may have control concurrently with a tube of the other pair (93IC-93ID) Stabilizing mechrmis'm Thetorpedo, under certain circumstances, may have a tendency to rotate excessively-during its flight, which would cause itto deviate substantially from its direct path toward the target. To liminatethe tendency of the torpedo to sorotateg there "is provided a stabilizing mechanism comprising two -'diametr'ically opposite wings exo'f'the rudders 30C and ".tion. As shaft 868 rotates, rc'am'86l will be rotated to actuate contacts ofthe 1'2 tending from the torpedo and each provided with an adjustable aileron. These ailerons are operated by mechanism illustrated by the Figs. :14, 15 and 16, this mechanism operating under the control of the compass illustrated in Figs. 6, 1'7 and 8.

in Figs. 1 and 2 the torpedo is shown provided with oppositely extending wings 3| and 32 having adjustable ailerons 33 and 34 respectively. One'of these ailerons is operatively connected to the end of shaft 860 extending from'the :box or housing 819 containing the stabilizer servomechanism =89, while the other-of said ailerons is connected so as to be operatedby the shaft 866 the end of which also extends-outside the said housing 819.

An electric motor 88! is provided in housing 119, said motor having a shaft .882 to which :a bevel pinion 883 is secured. This pinion 883 meshes with a bevel gear 684 secured to one end of the shaft 882, supported by'bearing standards 682a and 862b, the other end-of said shaft having the bevel-gear 82 I attached thereto. Thus rtmay be 'seen that motor -88l constantly rotates gear 821 and thereforethe pinions822 and82'3 meshing therewith.

It has previouslybeen described how -the energization of electromagnetic clutch 8.40 connects the pinion 822, rotating in one'directionwith the shaft 828 to rotate said shaft in the same direction. Also how the energization of electromagnetic clutch 858 connects pinion 82-3 with shaft .825 to rotate it in the opposite direction. Thus the worm 821, pinned to :shaft 624 will rotate with saidshaft in-the one-or theopposite direction depending upon which electromagnetic clutch Miller 866 is energized.

The worm -82! meshes with :a worm gear 285,-! .attachedto'shaft 885 whichis journalled inibearing standards 886 and 88-]. Shaft 885 has re. bevel'pinion 888 secured thereto which is in constant .mesh with :two bevel gears 889 and 896. Gear 889 is attached toshait .880-and bevel gear 886 'is'pinned to'shaft 868 so that as 1311110111388 rotates in :one direction it will turn bear 88.9 in one direction and'gear 690 in theoppos'itedirecthe switch actuating associated switches. Rotation of cam 861 in one direction opens contacts 868-810 and closes contacts 812--8'|3 while a reverse rotation of the cam opens contacts 8'l2-813 and closes contacts 8688'l0. When the cam 86! is in normal position, both sets are closed.

The blade 86'! which carries contact 868 is connected with one stationary contact 89l of an electromagnetic relay 892. The other stationary contact 893 of this relay is connected to blade 81! which carries contact 812. An armature 894 has a contact 895 normally spaced from but adapted to engage contact 189! while another contact 896 on the other side of the armature normally engages contact 893. 'An electromagnet comprising core 891 and winding 896 is adapted to attract and move the armature 894 out of its normal position against the effect of spring 899 which yieldably holds said armature in itsnormal position as shown in Fig..20.

The relay 892, just described, is under the control of the compass .50 shownin Figs. 1, 2, 6, 7 and 8. Compass 58 comprises a housing member 5M cradled in a 'gimbal ring 502. This ring is carried by a support attached to the torpedo in a manner as to permit adjustment of the compass for directional control. No detail drawing of this support is provided inasmuch as any suitable type of carrier, capable of securing the compass supporting gimbal ring to the casing 2! so that it may initially be adjusted to proper directional position and thus properly control the torpedo and prevent its rotation during flight, may be used.

The compass itself may be of any suitable, commercial type and inasmuch as the one, illustrated by the Figs. 6, '7 and 8 of the present drawings is one well known and obtainable on the open market no detail description thereof will be given, but just enough to be able to understand its function when used in the present new combination of elements for controlling the flight of a torpedo.

The cup shaped body 501 of the compass is, as has been mentioned, cradled in a gimbal ring 502 by adjustable pins 503.

Cradling of a compass in a gimbal ring such as is shown is a well-known expedient particularly followed in installations of a compass on sea-going vessels. It is well known that the polar responsive rotating element of the compass must at substantially stantially horizontal position in order to be operative under the effect of polar attraction. To maintain the polar responsive element of the compass substantially horizontal the instrument is cradled by or in a gimbal ring so that, in response to gravity, the instrument may rock in order to maintain itself in this proper position. In sea-going vessels where considerable rocking of the ship is experienced, the compass is supported in the cradle so that it can rock to permit gravity substantially to hold the instrument so that its polar responsive element is substan tially horizontal at all times and consequently under polar effect. In the present instance the Fig. 2 shows the torpedo in a vertical dive position and consequently the axis of the compass unit is vertical to the horizon and the polar operated member or compass card is in a substantially horizontal position in which polar effects may rotate it as the torpedo tends to rotate about its axis. When the torpedo veers from a direct vertical dive into a shallow glide, then naturally, gravity would automatically adjust the compass assembly in its cradle mount, or more particularly the gimbal ring 502 so that the axis of the compass would be maintained vertical with the horizon but would differ relatively to the axis of the torpedo. Thus like the compass on the seagoing vessel, compass 50 is cradled in gimbal ring 502 so that gravity will at all times tend to maintain the axis of the compass at vertical with the horizon and consequently maintain the polar controlled member Or compass card 505 thereof horizontal and under the effect of polar attraction.

A pivot pin 504 is centrally provided. in the body 501, said pin pivotally supporting the rotatable compass float 555. This float has a compass card 506 provided with a slot 501, said card acting as a shutter to control a light beam as will be described. A tubular extension 500 has one end secured in a counterbored recess in the bottom of housing or body 591, the other end of said tubular extension leading into and being secured to a container 509 forming a chamber 510 in which an expansible member or bellows 521 is contained, said bellows being in communication with the tubular extension 508. An opening 512 in the bottom wall of body 501 connects the interior of said body, housing the float 505, with all times be held in sub- 1 the interior of the tube 508 and therefore the bellows 51 1. Any suitable fluid is provided in the housing body 501 to act as a dampening agent preventing undue fluctuation of the floating compass member 505. A fluid not affected by temperature changes is desirable, however, if any expansion of the fluid, due to excessive temperature variations does occur, then the expansible bellows 511 may readily compensate for such variations.

A cover 514 is secured to the body 501 a sealing ring 515 being placed between the cover and body to insure against the leakage of the fluid from the body. A lens 516 is secured within a mounting collar 511 which is adjustably carried by the cover 514. Bracket 518 is insulatingly carried by the cover 514, said bracket supporting an electric lamp 519 so that its filament center is in axial alignment with the lens 516. The spring clip 520, insulatingly attached to the cover 514 provides a contact for the electric lamp. The lens 516 is of such a character that it will concentrate the light from the filament of lamp 519 into a narrow ribbon-like beam of predetermined dimensions. The size and shape of this light beam is indicated at 521 in Fig. 7.

In the bottom wall of the body housing 501 there is provided a window 522, sealed so as to prevent the leakage of fluid therethrough. This Window is circular in shape the center thereof being in direct alignment with the center of the slot 501 in the compass float card 506 and the center of the lens 516. The dot and dash line 523 shows the path of the light beam from lamp 519 centrally through the said lens, compass card slot and window. A spring mounting clip 525, attached to the outer side of the bottom wall of housing body 501, carries a photo-electric tube 526 in such a manner that it lies directly under window 522 and that its cathode plate is in alignment with the light beam indicated by the dot and dash line 523 and passing axially through said window. 7

At the time of releasing or launching the torpedo from the airplane or airship carrying it, the switches 64 and 65 are tripped, in any suitable manner, so as to close their respective circuits. Closing of switch 65 completes the circuits of the cathode heaters of the amplifying tubes. When the switch 64 is closed the circuits from the source of electrical energy, a storage battery 60 are completed. Now both electric motors l0! and 881 are rendered operative through the following circuits; from battery 60 through wire 62 across switch 64, wire 200 and for motor 881, across its armature and through its field winding 881a back to battery through ground G. For motor 701, from wire 200 across the armature and through field winding 101a back to battery through ground G.

Fig. 20 shows that as soon as these battery circuits to motors 191 and 881 are completed the following circuit is also completed, from wire 200 through wire 201 to the armature 894, across contacts 896 and 893, to flexible blade 311 thence across contacts 8'12 and 8713, blade 814 to electromagnet 850 and back to the battery via the ground connection. As has been stated previously, energization of electromagnet connects shaft 824 with pinion 823 which is driven through gears 821 and 884 and pinion 883 by the electric motor 881. Now shaft 824 and its worm 821 are driven in one direction resulting in the rotation of shafts 860 and 880, one in one direction and the other in the opposite direction. The

-.driving connections between worm 8-21 shafts are as follows: worm gear 851 .on shaft .885 (Fig. 15), which has pinion .838 attached thereto and which meshes with bevel gears 890 and 889 secured to shafts 860 and 880, respectively. The ailerons :33 and 34 of wings 3| and 32 respectively being oper-atively connected to the shafts 860 and 880 respectively, it follows that rotation of saidshafts in opposite directions as just described will likewise adjust said ailerons opposite directions causing the torpedo -to be thrown into -.a rotative movement in one direction about its longitudinal .axis.

Prior .-to the release or launching of the torpedo and with the directional location of the target known, the compass will have been addusted so that the compass card, acting as a shutter .fully interrupt the beam of light from lamp 51.9 to the photoelectric cell or .tube 526 thereby With .the cell or tube 525 inactive, .the electromagnet=898 isdeenergized and rendered inactive thus permitting the circuit-to the motor .881 to remain-effective. However, when, due to the ro- -.tation of the torpedo in consequence of such motor operation and resultant aileron adjustment, :the body 50! of the-compass, which is secured to the torpedo, rotates relatively to the polar attracted-compass-fioat 505 thereby shifting the light ray (line-523) so that it comes into alignment withithe slot- 01 .in the compass card 50.6 and p-assing-through-said slot-passes through window 5-22 and strikes the cathode of the photoelectric -.cell -or tube 526 rendering it active and said whereby the electromagnet 898 willbe-energized causingrits-armature 894 to be-attracted against the effect of spring899 so that contacts 893 and 396 are disengaged to discontinue the circuit through electromagnet "clutch i150 .and contacts Bill and .895 are-engaged 'to render the electromagnet clutch 840 active by completing thecircuit thereto across contacts 868 and 810 of the limit switch (see Fig. 20). Now the shafts-.860- and .880 will each be rotated-in the opposite direction :from that resulting from energization of clutch 850. This reversal of rotation of shafts -86!) and 880 results in an adjustment of theailerons 33 and 34 to efiecta-rotation of the torpedo in the direction opposite to that initially established and described'in-the aforegoing. *As the-torpedo :so rotates the-body of compass 50 will likewise be rotated-relatively to the substantially polar fixed compass float so that again the-solid part of its .card'is brought into the path of the light .beam v.from. lamp 5| 9 to interrupt this'beam and there- .fore render .the photoelectric tube or-cell 526 inactive, As a result of the inactivity ofsaid tube, :the :electromagnet, 898 is deenergized and its spring 899 will returnthe armature to the position in which contacts 893 and 895 are again .clc'sed. From this it 'may be seenthat extended rotation of the torpedo about its longitudinal axis is-substantially-prevented, the compass con- :trol acting automatically to adjust the ailerons 23 and 34 from one side-or position to the other intermittently so as to cause a like intermittent but limited rotation of the torpedo itself. The adjustments of the ailerons are limited by the switches including contacts 868B and :81-2-813 respectively. When motor 881 has rotated shaft 60 "a predetermined distance in one direction or the other the cam 86! will cause disengagement-of one or the otherof "said pairs .of cooperating contactsand'thus terminate rotartion of theshafts .869 and 880 in that direction.

rendering said cell or tube inactive.

h row mul ip i r oelect i t es 931A 93-iB-B3iC and 931D are illustrated diagram.- rnatically in Fig. 19. The Fig. 21-is a schematic arrangement of this -9 stage electrically focused type of tube. The-ciphers i) designate the photocath-odes of the tubes, the numerals i to 9 the dynodes and iii the anodes of the tubes. A-ring of voltage dividing resistances about each tube is marked R.

The photocathodes ii of all of the tubes 83! series are connectedto a common wire 232 which is connected to-one-side of afilter 230, the other side being connected to-one end of the secondary winding 22E of the -D. :C. to A. C, converter 2.26. The other end of said secondary winding is connected to the half wave rectifier type 2222 designated by the-numeral'23 l.

The anode is of each tube 9.3l-A.-93lB--93i 3 and 93113 is connected to the-grid 2 a25! lb-.- 2580 and 250d of the voltage amplifying tubes The cathodes 251a and 25.11) of tubes GSEKA-and F513 respectively are connected together by a :wire 252. Similarly cathodes 2510 and 251d of tubes BSF5C and {SSFED are connected together by a Wire 253. Plates 25 3a--254b--254c and 254d of the respective tubes iiSF5A-5SF5B6SF5C and SSFED have wires 255, 256, 251 and 25-8 respectively connected thereto. Wire 255 leading through two resistance units 25-9 and 266 conare connected in series between wires 2.55 and 258 while two similar resistances 21m and 212a .are connected in series betweenwires 251 and 258. The cathodes 288a and 2881) of trigger tubes 2655A and 20503 are connected together-by wire 215-to which a wire215 is connected. This wire 215 also connects with a-wire 211 connected between wires 255 and 256 between resistance units 25d26c and 262- 2 53 respectively, said wire 211 havingacondenser 213 between wires .215 and 255 and a condenser 219 between wires 2.1-6 and 256. Wire 2-16 terminates in a connection with wire 289 having two resistances 281 and 28-2, the latter being connected with resist- .ances 211 and 212 and with a wire 283 leading to one side of a filter 221A the other side of said filter being connected to the full wave rectifier 6X5 fed by the secondary winding 221. Resist- .ance 281 is connected .to one end of two parallel resistances 286-and283 iorming a voltage divider which .is grounded at G. -A resistance .284 is connected to the wire between anode H) of tube 93|A and grid 255A of tube 5SF5A and adjustably contacts resistance 286. A similar resistance 285 connects with wire of anode 1.0 .of tube 93IB and adjustably contacts resistance 283. Similarly a.wire.-216a connects between two resistances 281a and 282a .the resistance 282a being connected to the wire connecting the two resistances 21la..and.-2.12a in series between wires 251 and 258 and also being connected to wire 283. Resistance 281a connects with the one end of parallel resistances 285a and 283A the former being adjustably contacted by a resistance 285a connected also to anode 16 of tube 9310, the resistance 283a beingadjustably engaged by the resistance 285a connected also to anode H] of tube 931D. Separate circuits connecting each grid and cathode of the respective amplifier tubes SF5A8SF5B-5SF5C and 5SF5D include the condensers 289a, 289b, 2890 and 289d.

In the Fig. 20 tubes 2859A2959B2950C and 2058B, known as trigger tubes each have a plate 28la28lb28'lc and 29301 and also cathodes 288a283d258c and 288d respectively. Plate 287a is connected by wires 299 electromagnet winding H5 which is also connected to the grounded condenser 29! by wire 293. Plate 28lb is connected by wire 252 with electromagnet winding H7 also connected to the condenser 29! by wire 292. Means for retarding or timing the deenergization of windings H6 and H? comprises a resistance and condenser, the resistance 294 and condenser 295 being connected between wires 2% and 293 and resistance 256 and condenser 29? between wires 292 and 293. The cathodes 33a and 28827 are connected by wire 2Y9 to which is connected the wire 298 leading from one end of the transformer secondary 223. The other end of this secondary winding 223 is connected by wire 299 with a wire 39% one end of which connects with the wire 293. Two resistances 3E! and 302 are in the circuit of Wire 3118, resistance 39! between wires 299 and 293 and resistance 392 between wire 293 and the wire 393 connected to the joined ends of electromagnet winding I49 and MI and also connected to the rounded condenser 394.

Plate 2870 of trigger tube 285cc is connected by wire 395 with the one end of electromagnet winding I46. The plate 291d of trigger tube 295% is connected to electromagnet winding l4] through wire 396. Timing means comprising condenser 39? and resistance 398 is connected between wires 353 and 335 and similar means comprising condenser 399 and resistance am is connected between wires 393 and 306.

The circuits for the stabilizing apparatus are as follows: One end of the transformer secondary winding 229 has wire 3l5 leading therefrom to the one end of relay winding 898 the other end of said winding 898 being connected through wire 3 l 6 to the plate 3| 1 of the tube 2950E. A timing means comprising resistance 3l8 and condenser 3l9 is connected across wires 3I5 and 316. The other end of the transformer secondary winding 229 has a wire 329 leading therefrom and to the one end of resistance 32! the other end thereof being connected to a wire 322 including two resistances 323 and 324 and connected to wire 3l5. The cathode 3l6 of tube 2950B is connected to wire 322 between resistances 32! and 323, this juncture being grounded as at G. The grid 326 of tube 2050E is connected to the cathode 321 of tube 526 which, as has been described, is mounted on the compass 5D. The plate 328 of tube 526 is connected to wire 322 between resistances 323 and 324. A resistance 329 has one end connected to grid 326 the other end adjustably contacting the resistance 32L As has been mentioned previously many elements used in the present invention are commercial products known and obtainable on the open market. For instance the four multiplier phototubes 93lA-BC and D are known on the market as RCA-93! of the 9 stage electrically focused type. The four tubes marked 6SF5 are well known A. C. voltage amplifiers. The five tubes marked series 2950 are of standard construction as are the tubes numbered 6X5 and 526. All other electrical devices used such as filters, rectifiers, transformers, voltage dividers or balancers, resistance units and the like are well known and commercially produced. Applicants invention comprehends the combination of all of these electrical units to cooperate in producing the desired function, that of controlling a torpedo in its flight toward an illuminated target so that said torpedo will not be directed substantially from its direct path toward said target.

The airplane or airship used to launch the torpedo against a chosen target is provided with any suitable bomb rack or bay from which the torpedo may be released at the desired time. Before release, the switches G l and 65 are in open position. The compass 50 is properly adjusted inv accordance with the direction of approach and position of target. In the steering apparatus the rudders are initially in alignment with their respective fins. The ailerons of the stabilizing means are in alignment with their respective wing members. When the airplane, carrying the torpedo, is properly aimed or directed at the illuminated target the torpedo is released and simultaneously switches 65 and 65 are closed. Now the storage battery is connected to the various electrical devices and their circuits and some are rendered active. The transformer winding 225 with its half wave rectifier 23| and filter 230 energize the multiplier photo tubes 93 IA--93 IB 93|C and 931D forming the optical apparatus of the device and which control the steering mechanism. As has previously been stated tubes 93IA and 93 IB control the servo-mechanism operating the rudders 30C and 39D while tubes 93|C and 93lD control the rudders 30A and 39B. When rudders 30C and 30D are moved out of alignment with their respective fins 29C and 29D in one or the other direction, the torpedo is guided or urged to the right or left respectively of the longitudinal axis of the torpedo as viewed in Fig. 1, Sheet 1 of the drawings. Moving rudders 30A and 30B out of alignment with their respective fins 29A and 29B in one or the other direction cause the torpedo to move out of its path of flight either to the right or left respectively of the longitudinal plane of the torpedo as viewed in Fig. 2 of Sheet 1 of the drawings.

As long as the torpedo travels directly toward its illuminated target, the intensity of light excitation on all four of these photo tubes is equal and thus their controlling effect is equal or balanced so that no movement of the servo-mechanism, operating the rudders, results. However if the torpedo swerves out of its direct path toward the illuminated target then excitation of the tubes will differ rendering one effective over the other to cause rudder movement. For instance if the torpedo swerves toward the right of the direct path of travel (assuming that the torpedo of Fig. 2 is in flight toward the bottom of Sheet 1 of the drawings), then photo tube 93IA would receive the greater light excitation from the illuminated target and would predominate over the tube 93|B receiving the lesser light excitation. When the light strikes or is received by the tube 93 IA, it causes current to flow through the photo-tube and hence a voltage appears at the grid of tube BSFSA. This voltage is amplified by the tube 6SF5A and is applied to the grid circuit of the Thyratron 2950A. The voltage at the grid of 2050A tube becomes more positive and makes the tube conducting. Current flows through the tube 2959A and thence through the winding H6 of the walking beam relay which is detailedly shown in Figs. 9 to 13 inclusive and which has previously been fully described. This current flow through the now conducting tube 2059A to the relay winding HG comes from the transformer coil 228. The condenser I is used to time the relay, retarding its deenergization substantially. Energization of the relay coil H6 attracts the armature H5 to close contacts I01 and IE3 and to keep open the contacts I08 and l32. Now the circuit through the electromagnetic clutch 330 is completed and the servomechanism illustrated by Figs. 17 and 18 becomes effective to cause rotation of the rudders A and MB out of alignment with their respective fins 29A and 2913 again to bring the torpedo into a path of travel toward its illuminated target so that tubes 93IA and 93MB will again receive equal light excitation from the illuminated target. If the torpedo swerves from its path in the directly opposite direction or toward the left of the longitudinal axis as regards Fig. 2, then the phototube 9MB receives the greater light excitation and acting the same as tube 93IA, through the voltage amplifier BSFE-B and Thyratron 2050-13 in this instance, will render said Thyratron ZtEt-B conducting so that the magnet relay coil H'i will be energized rendering the electromagnetic clutch 73! active whereby the servomechanism of Figs. 17 and 18 is reversed in operation and rudders 30A and 30B are again moved to urge the torpedo toward the right as regards Fig. 2 and into its direct path of travel toward the illuminated target.

A voltage divider or balancing device comprising resistances 283 and 236 is provided in the circuits of the voltage amplifiers tSFtA and B so that with only background light on photocells, the 205i} tubes are nonconducting. The circuit including the cathodes of both voltage amplifiers BSFEA and B has an electrical unit 359, in the form of a resistance which may be termed a degenerating resistance inasmuch as, when both amplifiers GSFSA and B are adjusted (as above), it is ineffective, however, if one or the other of said amplifiers in effect receives a greater input from the photocell than the other, said degencrating resistance will become efiective to minimize the effect of the amplifier receiving the weaker signal.

Multiplier phototubes 93K, and 93113 are ren dered eiTective to adjust the rudders 30C and 38D as the torpedo veer to the right or left of the longitudinal axis, assuming that reference is had to Fig. 1, and that the torpedo is moving toward the bottom of the sheet of drawings. Tube 93K) acts through voltage amplifier SSFSC and Thyratron 2658C to energize magnet relay winding Mil which closes contacts l i3M5 to effect energization of clutch l6! and thus operation of the servo-mechanism of Fig. 17-18 to adjust rudders 313C and D for returning the torpedo. to its proper path of flight toward the target. Tube 93|D acts through voltage amplifier SSF5-D and Thyratron ZflSfiD to energize relay winding I4! whereby the electromagnet clutch E6! is energized to set the servo-mechanism into operation to adjust rudders 35C and 3111) in the opposite di-- rection and to correct for deviation of the torpedo from its proper path toward the target. Like tubes 931A and B, the circuits of tubes 93) and D have an adjustable voltage divider 26.5. Also a degenerating resistance 3% is provided in the cathode circuit of both voltage amplifiers GSFS-C and D.

The current for energizing the relay winding 898 of the stabilizing portion of the control device is taken from the transformer Wind ng 229 a 2050 series.

As long as no light from lamp 5 l 9 of the compass strikes the phototube 526, no current from winding 229 will flow to the relay winding However, as soon as the said tube is excited by the light beam from lamp 5 It on the compassdue to relative rotation of the compass housing 5%! an the compass float 505 as a result of turning of the torpedo during its flight, then current from the transformer winding 229 may flow to relay winding 898 to energize it and close certain contacts and open others whereby the servo-n :hanism illustrated by Figs. 14 and 15 will or rendered effective to control such torpedo rotation. This circuit includes a trigger tube which acts like the previously described trigger tubes or" the When not properly excited by the current from compass tube 526, trigger tube 2650B will not be conductive to the current from secondary winding 229 to the magnet winding 898. However, when tube 25-51% is properly e2:- cited to become conductive and perform its triggering function, then winding will properly energized to control the armature 8%.

In the foregoing the use of the term light is not to be construed as limiting the device to the use of visible light. Any electromagnetic radiation which will actuate photo tubes may be used, including infra red light, visible light, or ultraviolet light. By providing the light source and the lens system of the servo unit with suitable light filters the light source may be made invisible to the eye yet still capable of operating the servo control unit. The photo tube may also be of a type specially sensitive to the type of light to be used.

By actual tests satisfactory results were attained when various electrical elements were used having the electrical dimensions as given in the following list:

The resistances marked R in the four tubes 93lA-93IB-93|C and 9351) are each 100,G00 w.

The resistance in filter 230=10,000 M (M=1,000 ohms).

The condenser in filter 230:2 mfd.

The secondary winding 226=1350 v.

The resistances 283-286 and 283a-286a,=25 M.

The resistances 28%285 and 284a-285a=1500 M.

The resistances 281-282 and 281a-282a=1400 ohms.

The resistances 350-360=3300 ohms.

The resistances 27l272 and 271a272a=270 ohms.

The resistances 259262 and 265268= ohms.

The resistances 260-263 and 266269=1000 ohms.

The resistances of filter 227A=5000 ohms.

The resistances 294296 and 308310=220 ohms.

The resistances 301302=1000 ohms.

The resistances connected to heater of 2X2 (Fig. 22= 2 ohms).

The resistances 323324=1000 ohms.

The resistances 321=1000 ohms.

The resistances 3529:1500 ohms.

The resistances in line 315=1000 ohms.

The resistances 318=220 ohms.

The condensers 289a-289b-289c and 289d=.001 mfd.

The condenser in filter 230:2 mfd.

The, condenser in filter 227A=8 mfd.

The condensers 278-279 and 278a279a=.05 mfd.

The condensers 295297307--309=4; mfd.

The condenser 319 4 mfd.

The condenser at the converter 225=.5 mfd.

While the embodiment of the present invention as herein disclosed, constitutes a preferred form, it is to be understood that other forms might be adopted, all coming within the scope of the claims which follow.

What is claimed is as follows:

1. In a control device for an aerial torpedo having elevators, the combination with a source of direct electrical current and a source of pulsating current; a servo-mechanism fed from the source of direct electrical current for actuating the elevators; an electromagnet relay; a photoelectric tube; a trigger tube in circuit with said photoelectric tube and the relay, said trigger tube being adapted to be energized by the photoelecfi lid tube when excited to conduct the pulsating 21 current to the relay to close it whereby the servomechanism is rendered active to actuate the elevators in one direction; and means in circuit with the relay for retarding its deenergization due to the pulsations of the current flowing therethrough.

2. In a control device for an aerial torpedo having elevators, the combination with a source of electrical power; a servo-mechanism for operating said elevators; a double, electromagnet relay; two photoelectric tubes; a source of pulsating electric current; two trigger tubes, each connected to the source of pulsating current and to an electromagnet, each trigger tube being adapted to be rendered conductive to the pulsating current from its source to its respective electromagnet relay in response to the excitation of the photoelectric tube connected therewith, whereby the servo-mechanism is rendered active to adjust the elevator in one direction or the other; and choking means connected to the double relay for eliminating vibratory operation of the relay due to its energization by a pulsating current.

3. In a control device as defined by claim 2, in which, however, the torpedo is also provided with rudders; a servo-mechanism for operating said rudders in either direction; a double electromagnet relay; a pair of photoelectric tubes; two trigger tubes each adapted to render a portion of the relay effective to cause operation of the servo-mechanism to move the rudders in response to excitation of the photo-electric tube connected to the respective trigger tube; and choke means provided on the double relay to prevent vibratory operation of said double relay.

4. In a control device for an aerial torpedo having elevators; servo-mechanism for operating said elevators in one direction or the other; a double electromagnet relay for controlling said servo-mechanism; a source of electric power adapted to be connected with the relay for actuating it; a pair of trigger tubes, each adapted to be rendered effective to connect the source of electric power to a relay whereby the servomechanism is rendered active to adjust the elevators in one direction or the other respectively; two photoelectric tubes; an amplifying tube for each photoelectric tube for controlling the impulses impressed by the excited photoelectric tube upon a respective trigger tube whereby said trigger tube is rendered effective; and means connected to both amplifying tubes, providing for degeneration of the one photoelectric tube when the excitation of the other photoelectric tube exceeds the excitation of said one photoelectric tube.

5. In a control device for an aerial torpedo having elevators and rudders, the combination with a source of electrical power; a servomechanism comprising a single electric motor and two pairs of normally disengaged clutches, each pair being adapted to be rendered effective to connect the motor with the elevators or the rudders respectively; a control device for each clutch; and individual means for rendering each control device effective to cause engagement of its respective clutch, said individual means comprising a photoelectric tube and a trigger tube in circuit therewith, said trigger tube being rendered effective to connect the power source with the control device for rendering it active in response to excitation of said photo-electric tube by light rays impinging thereon.

6. In a control device for an aerial torpedo having elevators and rudders, the combination with a source of electrical power; a servo-inechanism comprising a single electric motor and two pairs of normally disengaged clutches, each pair being. adapted to be rendered effective to connect the motor with the elevators or rudders respectively; an electro-magnetic control device for each clutch; and mechanism for rendering each electromagnetic control device effective to cause engagement of the respective clutch controlled by it, said mechanism comprising a photoelectric tube and a trigger tube in circuit therewith and with the power source and electromagnetic control device, said trigger tube being rendered conductive to the current from the power source to the control device only when the photo-electric tube is excited by light rays impinging thereon.

7. In a control device for an aerial torpedo having elevators and rudders, the combination with a source of electrical power; a servomechanism comprising a single electric motor and two pairs of normally disengaged electromagnetic clutches, each pair being adapted to be individually energized and rendered eifective operatively to connect the single electric motor with either the elevators or the rudder respectively; a unitary, two-way electromagnetic relay for controlling each pair of clutches; and separate control mechanism for energizing each relay to actuate it in one direction respectively to cause energization of the particular electromagnetic clutch controlled thereby, each of said mechanisms comprising a photoelectric cell and a trigger tube both in circuit with each other and with the source of power, the trigger tube being rendered effective to conduct current from the power source to an electromagnetic relay to render it active in response only to excitation of the photo-electric tube by light rays impinging thereon.

8. In a control device for an aerial torpedo hav-- ing elevators and rudders, the combination with a source of electrical power; a servo-mechanism comprising a single electric motor adapted to be connected to said source of power and two pairs of normally disengaged electromagnetic clutches, each pair being adapted to be energized and rendered eiTective to connect the said motor with the elevators or rudders respectively; an electromagnetic relay for controlling each clutch; four photo-electric tubes; a source of pulsating current; and a trigger tube in circuit with each photo-electric tube, each trigger tube being connected to the source of the pulsating current and to an electromagnetic relay, each trigger tube being adapted to be rendered conductive to the pulsating current from its source to the respective electromagnetic relay in response to the excitation of the photo-electric tube in circuit therewith, whereby the single electric motor will be connected to the rudders or elevators by the energization of the electromagnetic clutch rendered efiective by the action of the said energized relay.

9. In a control device for an aerial torpedo having rudders and elevators, the combination with a source of power; a servo-mechanism comprising a single electric motor adapted to be connected to said source of power and two pairs of individually acting electromagnetic clutches for connecting the said motor with the rudders or elevators respectively; a normally open electromagnetically actuated switch in circuit with each electromagnetic clutch; a source of pulsating current; a normally non-conducting trigger tube respectively connecting the source of pulsating current 23 with .each electromagnet switch; and a photoeleotric'tube in circuit with each trigger tube and adapted to render the trigger tube conductive to pass current from the pulsating current source to the connected electromagnetic switch when said photo-electric tube is excited by light rays impinging thereon, whereby an electromagnetic clutch is rendered effective to connect the single electric motor to either the rudders or the elevators to rotate them.

10. In a control device as defined by clann 9, in which, however, each photo-electric tube has an amplifying tube connected therewith for controlling the impulses impressed by the excited photo-electric tube upon a respective trigger tube; and means connected to each amplifying tube providing for degeneration of the one-photo-electric tube whose excitation is exceeded by the excitation of another photo-electric tube.

11. In a control device as defined in claim 8, in which, however, the torpedo is provided with means for preventing rotation of the torpedo about its longitudinal axis whereby proper functioning of the four photo-electric tubes and their cooperating control mechanism is maintained during the flight of the torpedo.

12. A device for directing an aerial torpedo launched toward an illuminated target, comprising a plurality of optical elements for focusing light rays emanating from said target, said elements being arranged in a particular pattern which has a definite directional relation to the target when the torpedo is launched; means rendered effective by inequalities of the light focused by said elements for correcting for any divergence of the torpedo from a substantially direct path toward the target, the proper runetioning of said means requiring non-rotation of the torpedo about its longitudinal axis; and means comprising compass controlled, adjustable ailerons for preventing such rotation of the torpedo whereby the directional relation of the optical elements to the target, established at the time of launching, is substantially maintained during the entire flight of the torpedo.

ROBERT H. HILL.

JAMES H. GUYTON.

References Cited in the file of this patent UNITED STATES PATENTS Number Name Date 1,222,630 Husted Apr. 17, 1917 1,388,932 Centervall Aug. 30, 1921 1,418,605 Sperry June 6, 1922 1,536,996 Winter May 5, 1925 1,540,121 Hammond June 2, 1925 1,871,469 Rhea et a1 Aug. 16, 1932 1,873,579 Haas Aug. 23, 1932 1,958,258 Alexanderson May 8, 1934 2,100,934 Berges Nov. 30, 1937 2,165,800 Koch July 11, 1939 2,190,390 Thiry Feb. 13, 1940 2,289,242 Chance July 7, 1942 2,424,193 Rost et a1 July 15, 1947 FOREIGN PATENTS Number Country Date 305,571 Italy ab. 9, 1933 797,933 France Feb. 24, 1936 339,479 Italy Apr. 22, 1936 

